diff --git a/README.rst b/README.rst
index f142797..0e8b0e0 100644
--- a/README.rst
+++ b/README.rst
@@ -22,7 +22,7 @@ Purpose
 =======
 
 `Cartographer`_ is a system that provides real-time simultaneous localization
-and mapping `SLAM`_ in 2D and 3D across multiple platforms and sensor
+and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
 configurations. This project provides Cartographer's ROS integration.
 
 .. _Cartographer: https://github.com/googlecartographer/cartographer
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index 4ff2d3c..7112aaa 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -20,8 +20,8 @@
   <version>1.0.0</version>
   <description>
     Cartographer is a system that provides real-time simultaneous localization
-    and mapping SLAM across multiple platforms and sensor configurations. This
-    package provides Cartographer's ROS integration.
+    and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+    configurations. This package provides Cartographer's ROS integration.
   </description>
   <maintainer email="google-cartographer@googlegroups.com">
     The Cartographer Authors
diff --git a/cartographer_rviz/package.xml b/cartographer_rviz/package.xml
index ffb2351..cd24a14 100644
--- a/cartographer_rviz/package.xml
+++ b/cartographer_rviz/package.xml
@@ -20,8 +20,8 @@
   <version>1.0.0</version>
   <description>
     Cartographer is a system that provides real-time simultaneous localization
-    and mapping SLAM across multiple platforms and sensor configurations. This
-    package provides Cartographer's RViz integration.
+    and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+    configurations. This package provides Cartographer's RViz integration.
   </description>
   <maintainer email="google-cartographer@googlegroups.com">
     The Cartographer Authors
diff --git a/docs/source/index.rst b/docs/source/index.rst
index f662801..ca6622c 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -24,8 +24,8 @@ Cartographer ROS Integration
    ros_api
 
 `Cartographer`_ is a system that provides real-time simultaneous localization
-and mapping `SLAM`_ across multiple platforms and sensor configurations. This
-project provides Cartographer's ROS integration.
+and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
+configurations. This project provides Cartographer's ROS integration.
 
 .. _Cartographer: https://github.com/googlecartographer/cartographer
 .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
@@ -68,9 +68,10 @@ Running the demo
 ================
 
 Now that Cartographer and Cartographer's ROS integration are installed,
-download the example bags, 2D and 3D backpack collections of the `Deutsches
-Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_, to a known location,
-in this case ``~/Downloads``, and use ``roslaunch`` to bring up the demo:
+download the example bags (e.g. 2D and 3D backpack collections of the
+`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_) to a
+known location, in this case ``~/Downloads``, and use ``roslaunch`` to bring up
+the demo:
 
   .. code-block:: bash